Maps URL opening Google, not the maps app

First, what I'm trying to do. I want to make a quick reference QR Code document to post where I can have my iPhone open up apps and automatically do something. Such as, when I arrive at home, I have a QR code for foursquare and it opens up the app and gets me to my location. I'd like to also setup some codes to automatically navigate to particular addresses.

I'm running into some issues with the maps side of things. Right now Waze isn't handling it well, so I'm sure that will get fixed in an update soon. The bigger thing is my experience with the Apple Maps.